Printed in the Federal Republic of Germany
TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020
TR-EMO-BA-GB-0022 v03
Page 133 of 153
10.8 Profile Position Mode (operating mode 1)
At first the position factor 0x6093 should be set properly, that converts the position
units into position encoder increments by multiplying. The count of increments per
revolution is shown by the object 0x608F:
Position factor = (Position Encoder Resolution)*(Required size of position units in
revolutions)
Simple setup of the position factor:
Numerator = Count of position increments per revolution
Denominator = Count of position units per revolution
Also see chapter “Units” on page 56.
Then the user stroke must be set by choosing the proper position range limits 0x607B.
If it is no true divider of the encoder stroke,
an emergency "ECY_PARM_EUSTROKDIVRMND" = 0x6356 is set.
Normally it is expected, that all user strokes have the same size, while the drive
travels along the encoder stroke or encoder measuring range. But if there is a
remainder, the last user stroke will have exactly the same size, so that it will be shorter
than expected.
If a position ramp travels across the borders of this runt stroke, it will miss the target
position according to the missing position units.
It is however possible to run the drive, if this warning was set. It can simply be cleared.
Then the parameters must be set, that describe the shape of position ramps, see
chapter
“Profile Position (PP)” operating mode on page 35.
If a special behavior on disabling the operation, shutdown, fault, stop, quick-stop and
loss of connections is desired, the related option codes must also be set.
